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Acceleration profiles

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Added toggle to use DragonPilot's acceleration profiles.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 7308c1b35c
commit 3d6097b6a6
35 changed files with 141 additions and 47 deletions
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7
selfdrive/car/volkswagen/carcontroller.py
View File

@@ -25,7 +25,7 @@ class CarController:
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0
def update(self, CC, CS, ext_bus, now_nanos):
def update(self, CC, CS, ext_bus, now_nanos, sport_plus):
actuators = CC.actuators
hud_control = CC.hudControl
can_sends = []
@@ -78,7 +78,10 @@ class CarController:
if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
if sport_plus:
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX_PLUS) if CC.longActive else 0
else:
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
stopping = actuators.longControlState == LongCtrlState.stopping
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,

4
selfdrive/car/volkswagen/interface.py
View File

@@ -253,6 +253,6 @@ class CarInterface(CarInterfaceBase):
return ret
def apply(self, c, now_nanos):
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
def apply(self, c, now_nanos, sport_plus):
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos, sport_plus)
return new_actuators, can_sends

1
selfdrive/car/volkswagen/values.py
View File

@@ -35,6 +35,7 @@ class CarControllerParams:
STEER_TIME_STUCK_TORQUE = 1.9 # EPS limits same torque to 6 seconds, reset timer 3x within that period
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
ACCEL_MAX_PLUS = 4.0 # 4.0 m/s max acceleration
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
def __init__(self, CP):